JP2018189470A - Survey system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a survey system that can have an increased accuracy of analysis without requiring setting of an anti-aircraft label in a photographic surveying analysis of associating the position of imaging by a camera equipped in a mobile body with the result of tracking survey of the camera by a surveying device.SOLUTION: A photographic surveying analysis part 52 of an analyzer 4 associates the result of survey obtained by a surveying device 3 with the position where each image was taken by a camera 11, recognizes the surveying device 3 from images including the surveying device 3, and corrects the position of imaging based on the coordinates of a known point that the surveying device 3 has, so as to generate data for photographic surveying.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a photogrammetry system including a mobile imaging device that captures an image for photogrammetry and a surveying device that surveys the position of the mobile imaging device.

  2. Description of the Related Art Conventionally, so-called stereo photogrammetry is known in which a camera is mounted on a moving body, and surveying is performed using images (including still images and moving images) taken from two or more different positions by the camera.

  Particularly in recent years, UAV (Unmanned aerial vehicle) is used as a moving body, a camera is mounted on the UAV, and photogrammetry based on an image taken from above is performed.

  In such photogrammetry, a stereo model of the target area is generated by matching the spatial positional relationship of each captured image.

  For example, in Patent Literature 1, an image is taken while the flying object flies in a twisted manner over the measurement target range. This shooting is periodically shot so that images adjacent to each other in the traveling direction and images adjacent to each other in the course of course overlap each other by a predetermined amount. Then, after all of the images have been taken, one set of adjacent images is relative to each other for three images adjacent in the direction of travel to create one stereo image, and another set of adjacent images is also relative. Then, another stereo image is created, and the two sets of stereo images are connected using the feature points extracted from the common image of the two sets of stereo images and the overlap of the three images. Furthermore, by selecting a common tie point from adjacent images in adjacent courses and connecting adjacent stereo images in the course, it covers the entire measurement target range and is unified in a common 3D coordinate system. A stereo image (stereo model) is created.

JP 2013-108927 A

  However, although a relative positional relationship can be analyzed from a stereo model generated by combining captured images as in Patent Document 1, elements such as absolute scale (distance), position, and rotation can be specified. The final absolute coordinates cannot be determined.

  In Patent Document 1, the absolute coordinates of the flying object at the time of shooting are measured by GPS (Global Positioning System). However, the GPS measurement is performed by measuring the shooting position rather than measuring the position of the flying object by a total station (surveying device). There is a problem that the accuracy of identification is low.

  On the other hand, when the UAV position is surveyed by the total station, since the total station and the UAV camera are separated at the time of shooting, it is necessary to associate the shooting position with the survey result with the camera.

  In addition to this, it is possible to associate the imaged image with the ground point by including the orientation points whose coordinates are known in all the images in order to obtain absolute coordinates. It is necessary to include a fixed point, and shooting is limited. In addition, in order to set the ground control point, it is necessary to measure the absolute coordinates of the ground control point in the survey target area in advance, and the airspace indicating the ground control point so that the ground control point is clearly reflected in the captured image. There is also a problem that it is necessary to install a sign and labor is required.

  The present invention has been made in order to solve such problems, and the object of the present invention is to provide correspondence between a shooting position shot by a camera mounted on a moving body and a survey result obtained by tracking the camera using a surveying device. In photogrammetric analysis for attaching, a survey system capable of improving the analysis accuracy without requiring installation of an anti-aircraft sign or the like is provided.

  In order to achieve the above-described object, a surveying system according to the present invention is provided on a moving body and has a photographing unit that captures a plurality of images for photogrammetry so that adjacent images partially overlap, and a known position. A surveying unit having a known point coordinate, tracking the imaging unit to measure the position of the imaging unit, and taking the plurality of photogrammetric images, at least one of the surveying units An imaging control unit that controls the moving body and the imaging unit so as to capture an image including the image, and a survey result measured by the surveying unit is associated with a shooting position of each image captured by the imaging unit, and the surveying A photogrammetry analysis unit that generates photogrammetry data by recognizing the surveying unit from an image including a unit and correcting the shooting position based on the known point coordinates of the surveying unit.

  Further, as the above-described surveying system, the photogrammetry analysis unit may recognize the surveying unit by extracting a feature indicated by the surveying unit set in advance from an image including the surveying unit.

  Further, as the above-described surveying system, the photogrammetry analysis unit sets distance measuring light emitted from the surveying unit toward the photographing unit as a feature indicated by the surveying unit in order to measure the photographing unit. May be.

  In the surveying system described above, the photogrammetry analysis unit may set a guide light indicating a collimation direction of the surveying unit as a feature indicated by the surveying unit.

  Moreover, as the above-described surveying system, the photogrammetric analysis unit may set at least one of the outer shape and the color of a part or all of the surveying unit as a feature indicated by the surveying unit.

  In the surveying system described above, the surveying unit may be provided with a marker member, and the photogrammetric analysis unit may set the marker member as a feature indicated by the surveyor.

  In the surveying system described above, the marker member may be a circular or arcuate member centered on a vertical line passing through an instrument point corresponding to the known point coordinate in the surveying unit.

  Moreover, as said surveying system, as for the said marker member, the said circular shape or circular-arc-shaped part may be located in the same height as the said instrument point.

  Moreover, as the above-mentioned surveying system, the marker member may be provided at a plurality of locations in the surveying unit where the instrument points corresponding to the known point coordinates can be specified.

  According to the present invention using the above means, it is necessary to install an anti-air sign in photogrammetric analysis for associating a photographing position photographed by a camera mounted on a moving body with a surveying result obtained by tracking a camera by a surveying device. Analysis accuracy can be improved.

1 is an overall configuration diagram of a surveying system according to an embodiment of the present invention. It is a control block diagram of the surveying system concerning one embodiment of the present invention. It is an external appearance perspective view which shows an example of a surveying instrument. It is explanatory drawing which shows an example (a) of a point group of a relative imaging position, and an example (b) of a flight locus. It is a flowchart which shows the data generation routine for photogrammetry of the survey system which concerns on one Embodiment of this invention. It is explanatory drawing which shows an example (a)-(d) of the matching procedure of the point group of a relative imaging position, and a flight locus. It is explanatory drawing which shows an example of the correction | amendment procedure by the known point coordinate based on a surveying apparatus. It is explanatory drawing which shows the 4th modification (a)-(d) from the 1st modification regarding the characteristic on the appearance for recognizing a surveying apparatus from an image.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is an overall configuration diagram of a surveying system according to an embodiment of the present invention, FIG. 2 is a control block diagram of the surveying system 1, and FIG. 3 is an external perspective view showing an example of a surveying apparatus. FIG. 4 shows an explanatory diagram of an example (a) of a point cloud of a relative photographing position and an example (b) of a flight trajectory. The overall configuration and control system of the surveying system 1 according to the embodiment of the present invention will be described with reference to FIGS.

  The surveying system 1 is a surveying system that performs photogrammetry, a mobile imaging device 2 that captures a plurality of images for photogrammetry while moving, and a surveying device 3 (surveying unit) that surveys the position of the mobile imaging device 2. The analyzer 4 has an analysis device 4 that analyzes the photographing result and the survey result to generate data for photogrammetry, and performs photogrammetry analysis using the data.

  The mobile imaging device 2 is configured by mounting a camera 11 (imaging unit) that captures an image for photogrammetry on a UAV 10 that is a moving body. Note that the image captured by the camera 11 may be a still image or a moving image.

  Specifically, the UAV 10 is a flying mobile body that can fly on a predetermined flight path or can fly freely by remote control. The UAV 10 is provided with a gimbal mechanism 10b below the flight mechanism 10a for performing flight.

  The camera 11 is supported by the gimbal mechanism 10b of the UAV 10. The photographing direction can be freely changed by the gimbal mechanism 10b, and the posture can be stabilized so as to photograph a predetermined direction.

  In addition, the camera 11 has a lens portion 12 formed on the lower surface of the main body, and a prism 13 is provided beside the tip of the lens portion 12.

  The surveying device 3 is a total station provided on a known position coordinate, and can automatically track a survey target. The surveying instrument 3 is provided with a telescope unit 32 on a horizontal rotation driving unit 30 that can be rotated in the horizontal direction via a vertical rotation driving unit 31 that can rotate in the vertical direction. Further, the telescope unit 32 is provided with a distance measuring unit 33 such as a light wave distance meter for measuring an oblique distance to the target.

  Specifically, the surveying device 3 can measure the distance (ranging) from the surveying device 3 to the prism 13 and can measure the horizontal angle and the vertical angle by the prism survey using the prism 13 as a survey target. Therefore, the absolute coordinates of the prism 13 can be calculated from the survey results (slope distance, horizontal angle, vertical angle) by installing the surveying device 3 at a known position, leveling the attitude, and measuring the prism 13 It is. More specifically, the surveying device 3 has an instrument point that serves as a reference for surveying, and calculates absolute coordinates based on the known point coordinates of the instrument point in consideration of the instrument height with respect to the installed known position. . When the surveying device 3 cannot be installed at a known position, the instrument point coordinates may be calculated from the known reference point by the backward intersection method. As described above, the surveying device 3 measures the position of the prism 13 provided on the side of the tip of the lens unit 12 of the camera 11, but the positional relationship between the center position of the lens unit 12 and the prism 13 during or after the surveying. The survey result is corrected based on the above, and the survey result of the lens center position of the camera 11 is calculated. In the following description, the survey result refers to the corrected survey result.

  The analysis device 4 is an information processing terminal such as a personal computer having photogrammetry software. Specifically, the analysis device 4 performs setting of a flight path of the mobile photographing device 2, setting of a photographing method, data analysis, and the like. As for data analysis, for example, photogrammetry data is generated by associating the survey result measured by the surveying device 3 with the shooting position of each image shot by the mobile shooting device 2, and performing photogrammetry analysis based on the data. A stereo model can be generated.

  As shown in FIG. 1, the surveying system 1 captures a plurality of photogrammetric images P1, P2,... Pn at a predetermined shooting period while moving along a predetermined flight path determined in advance by the mobile imaging device 2. These images P1, P2,... Pn are photographed so that adjacent images partially overlap. Along with this photographing, the surveying device 3 tracks the camera 11 and continuously surveys. Then, the analysis device 4 associates the photographing positions of the images P1, P2,... Pn photographed by the mobile photographing device 2 with the survey results R1, R2,. Generate.

  Next, the configuration of a control system based on a computer installed in the mobile photographing device 2, the surveying device 3, and the analysis device 4 of the surveying system 1 will be described with reference to FIG.

  As shown in FIG. 2, the mobile imaging device 2 includes an imaging control unit 14, and an operation unit 15, an imaging unit 16, an imaging storage unit 17, and a communication unit 18 are electrically connected to the imaging control unit 14. It is connected to the. Although not shown, the imaging control unit 14 may be connected to a display unit or a sensor or a sensor.

  The operation unit 15 is an operation unit for inputting various operation instructions and settings to the imaging control unit 14. For example, the operation instructions include power on / off switching, trigger to start shooting, shooting mode switching, shooting cycle setting, image quality setting, connection with surveying device 3 on / off switching, and the like. The operation unit 15 may include any operation device or input device such as a switch, a button, or a dial.

  The imaging unit 16 is a part that performs a photographing operation, and includes an imaging element such as a CCD or a CMOS element that converts an optical image into an electrical signal, and a shutter.

  The imaging storage unit 17 is a program related to an imaging plan (hereinafter referred to as an imaging plan program) including the flight path of the mobile imaging device 2 and the timing of the imaging operation by the imaging unit 16, the imaging direction of the camera 11 by the gimbal mechanism 10b, It is a part for storing image data and the like taken based on the shooting plan. These data and programs can be input / output by communication via a storage medium such as a memory card or the communication unit 18.

  The communication unit 18 is a part that can communicate with an external device, for example, a wireless communication unit.

  The shooting control unit 14 is a part that performs control related to shooting by the camera 11 and control related to movement by the UAV 10. For example, the imaging control unit 14 causes the UAV 10 to fly along the flight path based on the imaging plan program stored in the imaging storage unit 17. In addition, the shooting control unit 14 can control the gimbal mechanism 10b to adjust the shooting direction of the camera 11, and can control the imaging unit 16 to perform shooting at a predetermined cycle.

  For example, the imaging control unit 14 of the present embodiment controls the imaging unit 16 to perform imaging with a preset imaging cycle of 1 to 3 s (seconds), and stores the captured image data in the imaging storage unit 17. Further, in the shooting plan program of the present embodiment, a flight route passing over the surveying device 3 is set, and the surveying device 3 is planned to be reflected in at least one of a plurality of images to be shot. Has been.

  The surveying device 3 will be described with reference to an example of the surveying device 3 shown in FIG. In addition to the horizontal rotation driving unit 30, the vertical rotation driving unit 31, and the distance measuring unit 33 described above, the surveying device 3 includes a horizontal angle detection unit 35, a vertical angle detection unit 36, a display unit 37, and an operation unit. 38, a tracking light transmitting unit 39, a tracking light receiving unit 40, a communication unit 41, and a surveying storage unit 42 are connected.

  The horizontal angle detection unit 35 can detect the horizontal angle collimated by the telescope unit 32 by detecting the horizontal rotation angle by the horizontal rotation driving unit 30. The vertical angle detection unit 36 can detect the vertical angle collimated by the telescope unit 32 by detecting the rotation angle in the vertical direction by the vertical rotation driving unit 31. These horizontal angle detection unit 35 and vertical angle detection unit 36 detect a horizontal angle and a vertical angle as a survey result. As shown in FIG. 3, the intersection of the vertical axis Va serving as the horizontal angle reference and the horizontal axis Ha serving as the vertical angle reference is the instrument point S, and the position of the instrument point S is the known point coordinate.

  The display unit 37 is a liquid crystal monitor, for example, and can display various types of information such as survey results (slope distance, horizontal angle, vertical angle).

  The operation unit 38 is an operation unit for inputting various operation instructions and settings to the surveying control unit 34. For example, the operation instructions include power on / off switching, a trigger to start surveying, survey mode switching, survey cycle setting, and the like. Similarly to the operation unit of the camera 11, the operation unit 38 may include an arbitrary operation device or input device such as a switch, a button, or a dial.

  The tracking light transmitting unit 39 emits tracking light, and the tracking light receiving unit 40 is a part that receives the tracking light reflected by the prism 13. The surveying control unit 34 controls the horizontal rotation driving unit 30 and the vertical rotation driving unit 31 so that the tracking light receiving unit 40 continues to receive the tracking light from the tracking light transmitting unit 39, thereby performing the target tracking function. Realized.

  As shown in FIG. 3, the distance measuring unit 33 and the tracking light transmitting unit 39 are provided in the telescope unit 32, and the distance measuring light L and the tracking light are emitted toward the collimation direction of the telescope unit 32. . The distance measuring light L and the tracking light pass on a straight line including the instrument point S of the surveying instrument 3.

  The communication unit 41 is a part capable of communicating with an external device, for example, a wireless communication unit.

  The surveying storage unit 42 is a part for storing various programs related to surveying such as the above-described tracking function program, a program for surveying at a predetermined surveying period, and surveying data. The stored surveying data is stored in a memory card or the like. The data can be transmitted to the outside via a communication unit 41 such as a storage medium or the communication unit 41.

  The guide light irradiation unit 43 is a part that irradiates a guide light for guiding the collimation direction of the distance measuring unit 33 to the operator. The guide light is visible light irradiated in the same direction as the distance measuring light. The guide light irradiating unit 43 can change the irradiation state, such as continuously turning on or blinking the guide light, and can also adjust the color and amount of light.

  When the tracking of the prism 13 is established, the surveying control unit 34 continuously measures the position of the camera 11 of the mobile photographing device 2 at a predetermined surveying period of 1 to 100 ms, for example. Then, survey data as a survey result is stored in the survey storage unit 42.

  The analysis device 4 includes a relative photographing position calculation unit 50, a flight trajectory calculation unit 51, a photogrammetry analysis unit 52, and a communication unit 53.

  Specifically, the relative shooting position calculation unit 50 acquires image data stored in the shooting storage unit 17 of the mobile shooting device 2, performs orientation analysis of each image, and indicates a relative shooting position of each image. The shooting position is calculated. That is, the relative photographing position is relative position information between images whose absolute scale (distance), position, and rotation are not fixed. For example, the position information is represented as a point as shown in FIG. Each relative photographing position can be expressed as a point group P. In the figure, the shooting range of the image corresponding to each relative shooting position is represented as a rectangular frame. Here, for simplification of explanation, the shooting ranges are shown apart from each other, but actually, adjacent images partially overlap each other.

  The flight trajectory calculation unit 51 acquires survey data stored in the survey storage unit 42 of the surveying device 3, and calculates the flight trajectory (movement trajectory) of the mobile photographing device 2 from the survey data. Since the surveying device 3 continuously tracks the camera 11 with a short cycle, when position information based on these survey results is displayed, for example, as shown in FIG. It can be expressed as T.

  The communication unit 53 is a part capable of communicating with an external device, and is, for example, a wireless communication unit. The communication unit 53 of the analysis device 4, the communication unit 18 of the camera 11, and the communication unit 41 of the surveying device 3 can communicate with each other. Therefore, for example, the image data captured by the camera 11 and the survey result surveyed by the surveying device 3 are used for each communication unit 18, 41, 53 after every capture and survey, or for each capture and each survey. It is also possible to transmit to the analysis device 4 via.

  The photogrammetry analysis unit 52 associates the point group P of the relative imaging position calculated by the relative imaging position calculation unit 50 with the flight trajectory T calculated by the flight trajectory calculation unit 51, and thus the survey result is obtained for each image. Corresponding to the shooting position. Further, the photogrammetry analysis unit 52 recognizes the surveying device 3 from the image including the surveying device 3 and corrects the shooting position associated with the survey result based on the known point coordinates of the surveying device 3. In this way, data for photogrammetry is generated.

  Specifically, the photogrammetry analysis unit 52 adjusts the point group of the relative photographing position to the flight trajectory so that the deviation between the point group P of the relative photographing position and the flight trajectory T is minimized. The absolute shooting position of each image, that is, the absolute coordinates of the shooting position is set. The photogrammetry analysis unit 52 further recognizes the surveying device 3 from the images captured by the surveying device 3 among the plurality of image data captured by the mobile imaging device 2, and the known points of the surveying device 3 Data for photogrammetry is generated by correcting the absolute coordinates of the shooting position based on the coordinates. The photogrammetry analysis unit 52 performs photogrammetry analysis based on the photogrammetry data to generate a stereo model.

  Here, FIG. 5 is a flowchart showing a photogrammetry routine in the survey system of the present embodiment, and FIG. 6 shows an example (a) to (d) of a procedure for associating a point cloud of a relative photographing position with a flight trajectory. FIG. 7 shows an example of a correction procedure based on the known point coordinates. Hereinafter, the method for generating photogrammetric data of the surveying system of the present embodiment will be described along the flowchart of FIG. 5 with reference to FIGS.

  First, as a premise for starting the photogrammetry routine shown in FIG. 5, the mobile photographing device 2 makes a conflict as shown in FIG. The camera 11 is set to take a picture with a predetermined photographing cycle and to fly on a predetermined route.

  Then, as step S1 of the photogrammetry routine, the surveying device 3 starts tracking surveying of the mobile imaging device 2 that is flying.

  As a subsequent step S2, the mobile photographing device 2 starts photographing with the camera 11.

  In step S3, the mobile photographing device 2 photographs at least one image captured by the surveying device 3 during photographing based on the photographing plan program.

  In step S4, the mobile imaging device 2 completes the flight of the set flight path and finishes all imaging. Here, the image data stored in the imaging storage unit 17 of the camera 11 and the survey data stored in the survey storage unit 42 of the surveying device 3 are input to the analysis device 4.

  Then, in step S5, the relative photographing position calculation unit 50 of the analysis device 4 calculates the point group P of the relative photographing position as shown in FIG. 4A based on the image data.

  In step S6, the flight trajectory calculation unit 51 of the analysis device 4 calculates the flight trajectory T of the mobile imaging device 2 as shown in FIG. 4B based on the survey data.

  In step S7, the photogrammetry analysis unit 52 associates the point group of the relative photographing position calculated in step S5 with the flight trajectory calculated in step S6.

  Specifically, the photogrammetry analysis unit 52 first superimposes the point group P of the relative photographing position on the flight trajectory T as shown in FIG. The point cloud P is moved.

  After the center positions substantially coincide with each other, the photogrammetry analysis unit 52 extends, for example, a substantially straight line portion so that the direction of the point group P of the relative photographing position and the flight trajectory T match as shown in FIG. The point cloud P is rotated so that the directions match.

  After the directions of the point group P and the flight trajectory T substantially coincide with each other, the photogrammetry analysis unit 52 causes the point group P at the relative photographing position to overlap the flight trajectory T as shown in FIG. The point cloud P is enlarged. Here, when the range of the point group P is wider than the flight trajectory T, the point group P is reduced.

  Further, the photogrammetry analysis unit 52 performs fine adjustment of movement, rotation, enlargement or reduction of the point group P, and the point group P at the relative photographing position is substantially on the flight trajectory T as shown in FIG. Match.

  As described above, the photogrammetry analysis unit 52 adjusts the point group P of the relative photographing position to the flight locus T so that the deviation between the point group P of the relative photographing position and the flight locus T is minimized, and each relative photographing position. The survey result that coincides with is associated as absolute coordinates of the relative photographing position. Note that not all points of the relative shooting position match on the flight trajectory, and if there is no survey result that matches the relative shooting position in the flight trajectory, the survey result closest to the relative shooting position is The relative shooting position.

  Furthermore, in step S8, the photogrammetry analysis unit 52 recognizes the surveying device 3 from the image reflected by the surveying device 3 among the plurality of image data taken by the camera 11. Specifically, the photogrammetry analysis unit 52 recognizes the surveying device 3 by extracting the characteristics indicated by the surveying device 3 set in advance. For example, in the present embodiment, the photogrammetry analysis unit 52 sets the distance measuring light L emitted from the surveying device 3 as a feature indicated by the surveying device 3, and recognizes the surveying device 3 using this as a mark. That is, a light spot (for example, a red dot) indicating the distance measuring light L reflected on the image is extracted, and the position of the light spot is recognized as the position of the surveying device 3.

  Thereafter, in step S9, the photogrammetry analysis unit 52 determines the photographing position associated with the survey result in step S7 based on the position of the surveying device 3 recognized in step S8, that is, the known point coordinates at the instrument point P. to correct.

  Specifically, as shown in FIG. 7, the photogrammetry analysis unit 52 obtains a difference value between the coordinate A1 of the surveying device 3 and the known point coordinate A2 of the surveying device 3 based on the photographing position after the association in step S7. . Then, for each shooting position associated in step S7, the position moved by the difference value toward the known point coordinate A2 is set as the absolute coordinate of the final shooting position. In this way, an image with absolute coordinates is used as data for photogrammetry.

  In FIGS. 6 and 7, only two-dimensional adjustment is shown for the sake of simplification, but in reality, three-dimensional adjustment is required. FIGS. 6 and 7 are conceptual diagrams for simple explanation. Each adjustment here is an example, and other general adjustment (matching) can be applied. 6 and 7 can be manually adjusted by the operator in addition to automatic adjustment by the photogrammetry analysis unit 52. Further, in FIG. 7, for easy understanding, the difference in shooting position between the correspondence and the correction is shown larger than the actual one.

  In step S10 of FIG. 4, the photogrammetry analysis unit 52 performs photogrammetry analysis based on the data for photogrammetry generated in step S9, and the absolute scale (distance), position, and rotation are also calculated. A fixed stereo model is generated and the routine is terminated.

  As described above, in the survey system 1 of the present embodiment, first, the point cloud P of the relative photographing position is calculated from the image photographed by the camera 11 of the mobile photographing device 2 and the flight trajectory is obtained from the survey result by the surveying device 3. By calculating T and associating the point group P with the flight trajectory T, the survey result is associated with the shooting position of each image.

  The photogrammetry analysis unit 52 further recognizes the surveying device 3 from the image captured by the surveying device 3 and corrects the shooting position based on the known point coordinates of the surveying device 3. That is, the surveying device 3 is used as a ground control point.

  As described above, by further performing correction based on the known point coordinates with respect to the photographing position associated with the survey result by the surveying device 3, more accurate absolute coordinates can be obtained as the photographing position of each image. In addition, this correction requires additional work such as installing an anti-aircraft sign or the like because the surveying apparatus 3 is simply installed at a known position and the surveying apparatus 3 only needs to be included in the image to be captured. Therefore, the photogrammetry analysis accuracy can be easily improved.

  Further, the photogrammetry analysis unit 52 recognizes the surveying device 3 reflected in the image by extracting a feature indicated by the predetermined surveying device 3. Thus, the surveying device 3 can be easily recognized by determining the characteristics for recognizing the surveying device 3 in advance.

  In particular, according to the present embodiment, the photogrammetry analyzing unit 52 uses the distance measuring light L emitted from the surveying device 3 toward the camera 11 in order for the surveying device 3 to measure the position of the camera 11. The surveying device 3 is extracted using this as a mark. Since the surveying device 3 tracks the camera 11, the distance measuring light L is always emitted toward the camera 11 and is easily recognized as a feature that the surveying device 3 shows. Therefore, the surveying device 3 can be easily recognized from the image by using the distance measuring light L as a mark.

  The description of one embodiment of the present invention is finished above, but the aspect of the present invention is not limited to this embodiment.

  In the above embodiment, the photogrammetry analysis unit 52 uses the distance measuring light L as a feature for recognizing the survey device 3 reflected in the image. However, the feature shown by the survey device 3 is limited to this. is not.

  For example, as a feature of the surveying device 3, tracking light may be used in addition to the ranging light, or a guide light indicating the collimation direction of the surveying device 3 may be used. The guide light is directed to the camera 11 during tracking surveying, like the distance measuring light, and the irradiation state, light color and light amount can be adjusted, and the degree of freedom is high, making the surveying device 3 easier to recognize. Can do. Since the guide light does not pass through the instrument point S, correction for correcting the deviation between the guide light irradiation unit 43 and the instrument point S is required to obtain the known point coordinates. In the above embodiment, only one guide light irradiation unit 43 is provided in the surveying instrument 3, but a plurality of guide light irradiation units 43 may be provided. By providing a plurality, it is possible to improve the accuracy of correcting the deviation between each guide light irradiating unit and the instrument point.

  The features of the surveying device for recognizing the surveying device are not limited to this, and FIG. 7 shows the first to fourth modifications (a) to (d) of the features shown by the surveying device. The following description is based on these drawings.

  FIG. 7A is a schematic view of the telescope unit of the surveying device as viewed from the front. In the first modification shown in FIG. 7, the photogrammetry analysis unit 52 has an outer shape (thick line) and colors (hatched range) of the telescope unit 32. The external features such as the above are set as the features indicated by the surveying device 3. Thereby, the surveying device 3 can be extracted also from an image taken in a state where light such as distance measuring light is not irradiated on the camera 11. The appearance features are not limited to this, and part or all of the outer shape and color of other parts of the surveying device 3 may be set.

  Moreover, a marker member may be provided in the surveying device 3, and this marker member may be set as a feature indicated by the surveying device 3, whereby the surveying device 3 can be extracted more reliably.

  For example, as in the second modification shown in FIG. 7B, an annular marker member 60 centering on the instrument point is surrounded by the survey apparatus 3 at the same height position as the instrument point of the survey apparatus 3. It may be provided as follows. Thus, by providing the marker member 60 that appears larger in the image than the surveying device 3, the photogrammetric analysis unit 52 can more easily recognize the surveying device 3. In particular, in the case of the second modification, since the annular marker member 60 is at the same height as the instrument point of the surveying device 3 and the center is at the same position as the instrument point, the photogrammetry analysis unit 52 is In particular, the position of the instrument point of the surveying instrument 3, that is, the known point coordinates can be acquired without performing a correction operation. Note that the marker member is not limited to an annular shape, and may be an arc shape in which a part of the annular shape is cut out, for example, a semi-annular shape.

  In the third modification shown in FIG. 7C, a disc-shaped marker member 61 is provided between the main body of the surveying device 3 and the tripod 3 a that supports the surveying device 3. The peripheral edge 61a of the marker member 61 has a color different from that of the central side so that the peripheral edge can be easily recognized. The center of the disc-shaped marker member 61 is located on the vertical line including the instrument point of the surveying instrument 3. As a result, as in the second modification, the photogrammetry analysis unit 52 can easily recognize the surveying device 3, and the position of the instrument point can be determined only by correction in the height direction because it is centered on the vertical line including the instrument point. Can be calculated. The correction in the height direction may be corrected by using the mechanical dimensions of the surveying device 3, or the surveying device 3 itself may measure the position of the marker member 61.

  Moreover, you may provide the some marking member 62a, 62b in the surveying instrument 3 like the 4th modification shown in FIG.7 (d). In the surveying instrument 3 shown in FIG. 7D, a pair of disc-shaped marker members 62a and 62b are provided at the upper ends of the left and right support members that support the telescope unit 32. The pair of marking members 62a and 62b are provided so that a vertical line passing through the instrument point is located at an intermediate position of a straight line connecting the attachment positions of the respective marking members. Thereby, the same effects as those of the third modification can be obtained. In the fourth modification, a pair of marker members 62a and 62b are provided in the surveying instrument 3. However, the number of marker members is not limited to two, and more marker members can be used as long as the instrument point can be specified. May be provided.

  Moreover, you may set the characteristic which the surveying apparatus 3 shows combining the said embodiment and said each modification.

  In addition, in the above embodiment, the mobile imaging device 2 uses the UAV 10 as a moving body, but the moving body is not limited to this. For example, it may be a manned flying body such as a helicopter or an airplane, or a moving body that moves on the ground, such as a car or a human, and this movement trajectory is associated with a point cloud at a relative photographing position to obtain data for photogrammetry. It may be generated.

  In the above embodiment, the relative imaging position calculation unit 50 and the flight trajectory calculation unit 51 are provided in the analysis device 4. For example, the relative imaging position calculation unit is a mobile imaging device, and the flight trajectory calculation unit is a surveying device. You may have. Further, the surveying apparatus may be provided with all the functions of the analysis apparatus.

  Moreover, in the said embodiment, although the mobile imaging device 2 is made into the flight path | route which passes over the surveying apparatus so that the surveying apparatus 3 may be reflected in an image, a flight path | route is not restricted to this. For example, an image including a surveying device may be taken by changing the camera direction during flight.

  Further, in the above embodiment, the photogrammetry analysis unit 52 associates the point group P of the relative photographing position with the flight trajectory T as a method of associating the survey result with the photographing position of each image. The method of associating with the shooting position of the image is not limited to this.

  For example, the photographing time for each photographing by the camera 11 in the mobile photographing device 2 is stored, and the surveying time for each surveying by the surveying device 3 is also stored, and the survey result is photographed for each image based on the photographing time and the surveying time. It may be associated with a position.

DESCRIPTION OF SYMBOLS 1 Surveying system 2 Moving imaging device 3 Surveying device (surveying part)
4 Analysis device 10 UAV (mobile body)
11 Camera (shooting unit)
DESCRIPTION OF SYMBOLS 14 Shooting control part 17 Shooting storage part 33 Distance measuring part 34 Surveying control part 35 Horizontal angle detection part 36 Vertical angle detection part 42 Surveying storage part 43 Guide light irradiation part 50 Relative photographing position calculation part 51 Flight locus calculation part (movement locus calculation) Part)
52 Photogrammetry analysis part 60, 61, 62a, 62b Marking member

Claims (9)

An imaging unit that is provided on the moving body and shoots a plurality of images for photogrammetry so that adjacent images partially overlap;
A surveying unit that has a known point coordinate provided at a known position, tracks the imaging unit, and surveys the position of the imaging unit;
In capturing the plurality of images for photogrammetry, at least one image capturing control unit that controls the moving body and the image capturing unit to capture an image including the surveying unit,
The survey result measured by the surveying unit is associated with the shooting position of each image shot by the shooting unit, and the surveying unit is recognized from the image including the surveying unit, and the known point coordinates of the surveying unit are set. A photogrammetry analysis unit that generates data for photogrammetry by correcting the shooting position based on
Surveying system with   The surveying system according to claim 1, wherein the photogrammetry analysis unit recognizes the surveying unit by extracting a feature indicated by the surveying unit set in advance from an image including the surveying unit.   The surveying system according to claim 2, wherein the photogrammetry analysis unit sets, as a feature indicated by the surveying unit, ranging light emitted from the surveying unit toward the imaging unit in order to measure the range of the imaging unit. .   The surveying system according to claim 2, wherein the photogrammetry analysis unit sets a guide light indicating a collimation direction of the surveying unit as a feature indicated by the surveying unit.   The surveying system according to claim 2, wherein the photogrammetry analysis unit sets at least one of an outline and a color of a part or all of the surveying unit as a feature indicated by the surveying unit. The surveying unit is provided with a marker member,
The surveying system according to claim 2, wherein the photogrammetry analysis unit sets the marker member as a feature indicated by the surveying unit.   The surveying system according to claim 6, wherein the marker member is a circular or arcuate member centered on a vertical line passing through an instrument point corresponding to the known point coordinate in the surveying unit.   The surveying system according to claim 7, wherein the marker member has the circular or arc-shaped portion located at the same height as the instrument point. The surveying system according to claim 6, wherein the marker member is provided at a plurality of locations in the surveying unit that can identify instrument points corresponding to the known point coordinates.

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